Messages

Good evening :-)

I test again, this program always cause issue.
I attach the GH programm and embeded image of the issue and highlight in a panel  the position that cause problem.

hello,
yes the base 6 was measured from the robot $Nullframe. Form the robot origin.

I use KSS8.6.10 and think that in the KSS8.6.10 the coordinate of the base assigned to rotary axis is and offset base, so if base 4 assigned to the rotary axis has all itscoodiante with 0, these base is in the center of the rotary axis with no offset.

Do you think i should use the kuka prc with another value to get coorect simulation. The issue comes when i want to turn the E1  more than 90 degrees and flip plane.

Thanks in adavanc,
If you want more detail and simulation issue, i could do it.

hello,
I measure the base (base N°6) attached to the rotary axis KP1H;

base6andpositioner.jpg
 when i assign this base to the Rotary axis, then the base 6 is offset from the rotary base, For instance, the origine of base 6 in in the center of the KP1H, but when i want to to go 0,0,0 in base 6, My robot fo this :

base6issue.jpg

I guess it could came my misunderstanding of the "External Kinematics Rotary axis" in KUKA PRC Core.?
I join a definition that cause the difference betwen simulation and reality. (tenonforum.gh)

Hello,
At the beginning, I measure set the turntable with a sharp tool and get this.
X : -493
Y : 2854
Z : 1103
A : 36.05   B : -44.9   C : 90.74

Then i create a base attached to the turntable base with a null offset.
The simulation and the robot path are accurate.


Do you say that i must set the turnatble base with
X= Y= Z =0
A= 36.05  B -44.9  C 90.74


And set the base offset
X : -493
Y : 2854
Z : 1103
A=B=C = 0
?

I try it tommorrrow to see if there is a change.
Thanks.
Ludovic

Hello, sorry I took a screen shot without change the language to be clerly explicit to all the community.

So, yes i set the rotary as a base (base KP1) and set the base (base 4) is an offset to the E1.

Yes,  When in use cartesian move in the base 4 and turn the E1 the TCP is not moving accordingly to the E1 (no relative move form the KP1)  the TCP always pointing a fixed point ine the KP1 and KP1 is turning.

Hello,
 i Measure the turntable, and set it as a "cinematic couple"  Screen capture "Externalaxis.jpg"

https://drive.google.com/open?id=1glc87IdV-Q7W1Y9Qhi7i-aHtnmjyDO-6&usp=drive_fs

And i define a base attached to this External axis : screen capture "Rotary base.jpg"


https://drive.google.com/open?id=1ggmKpWvbLkWeGZoSeILtUx4A4vkBGQDx&usp=drive_fs

The simulation is Ok for 5 GH def and the sixth one is not correct.

Hello,
i have an issue between simulation and the real movements.
I am facing tese issue for some definition not all.

simulation
https://drive.google.com/open?id=1gR7mjL9XNNY0GFw4IRproj0MXroRjYVx&usp=drive_fs

reality
https://drive.google.com/open?id=1gA8Mn_MLw4n2w8hBn0mjEaU2AbntNvem&usp=drive_fs


A long time ago (2015) you said to check the status and turn.
I use stauts "As start" and I use Only linear and axis movement.
The Axis movemet is use to "unroll" the axis and reach a safe position when the External axis turn.

Is there a menu to check the status and turn on the robot side / Controller KRC4?

Thanks
Ludovic

Bonjour Tess,
belle initiative de diffusion de la connaissance de l'utilisation de kuka PRC en francais.

Tu es où ? dans quelle école.
Pour l'instant, il y a quelques autres français qui utilisent kuka prc
- Wall-e et moi même (nous sommes sur la carte des membres RIA) a ma connaissance...

Hi johannes,
is it possible to increase the number of dIO in the dIO component to 16 Outputs ?

I would like to use the 8-9-10-11 DIO output ?
Or could you create a DIO component where we can choose, select the Number of the outputs we only use ?

thanks
Ludo

hi,
What is the purpose of this component ?
For example i would like to command a servo at a specific moment (or position or what else) like in the robot arch 2014 workshop - Superflex.
How can i use this command ? to control the servo ? does the infos go trough the plc or there is some wioring between the krc4 and the servo in order to conect the External axis.

thanks
Ludo

hello,
have you try the 5 axis maker software? http://5axismaker.com/5x/software/
They developp a gh definition for milling 3d shapes

see more detail in their website "5 axis maker.com"

Ludo

Hi wall-E and Johannes
I don't use the serial port i connect my arduino to the PLC with a screw shield : image below
i connect the robot outputs to the arduino through voltage divider24V-> 5V and solid state relay 5V --> 24V for robot inputs: image below


Ludo

wall E
here is an example with custom krl command for wait.

Hi kerber,
for generate staubli code you could try to get in touch with sci-arc, they have staubli robots and they developp a plugin for grasshopper (CRane grasshopper components have been created by brian harms)
http://cranerobotics.com/

you could retrieve the benchmark of several robot control plugin that i have done here : http://www.grasshopper3d.com/profiles/blog/list?user=3mqq7l81zfnui

Hope that help
ludo

[wait sec 3]

hi wall-E code to pause is
wait sec 3
for a 3 sec pause tou could also give a real value like 3.15

YOu also can code a waiting for an input from your plc like :
wait for $in[1]==true
for waiting until input [1] is not true

Ludo